LOS ANGELES, CA - MARCH 08: Indio Falconer Downey arrives for his court appearance at the Airport Courthouse on March 8, 2016 in Los Angeles, California. Downey, who pleaded no contest to cocaine possession in June 2014, was told in September of that year that his conviction could be dismissed upon completion of a drug-diversion program and staying out of trouble for 18 months. (Photo by Frederick M. Brown/Getty Images)

LOS ANGELES, CA - MARCH 08: Indio Falconer Downey arrives for his court appearance at the Airport Courthouse on March 8, 2016 in Los Angeles, California. Downey, who pleaded no contest to cocaine possession in June 2014, was told in September of that year that his conviction could be dismissed upon completion of a drug-diversion program and staying out of trouble for 18 months. (Photo by Frederick M. Brown/Getty Images)

LOS ANGELES, CA - MARCH 08: Indio Falconer Downey arrives for his court appearance at the Airport Courthouse on March 8, 2016 in Los Angeles, California. Downey, who pleaded no contest to cocaine possession in June 2014, was told in September of that year that his conviction could be dismissed upon completion of a drug-diversion program and staying out of trouble for 18 months. (Photo by Frederick M. Brown/Getty Images)

HOLLYWOOD - NOVEMBER 03: Actor Robert Downey Jr., wife/producer Susan Levin and son Indio arrive at the premiere of Warner Bros. and Silver Pictures' 'Fred Claus' held at Grauman's Chinese Theater November 3, 2007 in Hollywood, California. (Photo by Albert L. Ortega/WireImage)

LOS ANGELES, CA - MAY 04: Robert Downey Jr. (L) and his son Indio Downey (R) attend the Los Angeles Lakers against Utah Jazz playoff game at the Staples Center on May 4, 2008 in Los Angeles, California. (Photo by Noel Vasquez/Getty Images)

LOS ANGELES - JUNE 2: Actor Robert Downey, Jr. (L) joins son Indio Downey (2nd-L) and Indio's band The Jack Bambis to pose at the Kidstock Music and Art Festival at Greystone Mansion June 2, 2007 in Los Angeles, California. (Photo by Charley Gallay/Getty Images)

LOS ANGELES, CA - MARCH 01: Actor Robert Downey Jr. and son Indio arrive at the Paramount Pictures' Premiere Of 'Zodiac' held at Paramount Studios on March 1,2007 in Los Angeles, California. (Photo by Frazer Harrison/Getty Images)

Robert Downey Jr. with son Indio, (L) and guests during The Boyle Heights Music and Arts Program Launch - Arrivals at Boyle Heights School in Los Angeles, California, United States. (Photo by M. Tran/FilmMagic)

"Your honor, I would like to say I am truly grateful for the experience I have had over the past 20 months in recovery," Indio said, addressing Judge Lauren Weis Birnstein. "I've gained so much. I'm so blessed to have my life back. I hope to be an inspiration to others in the future."

After the judge dismissed Indio's cocaine possession conviction, calling out "his very successful completion of his program," Indio hugged his lawyer in the hallway.

Indio's famous father was not in court on Tuesday, but the Iron Man actor was present in court to support his son in September 2014, when Indio pleaded guilty to one felony count of cocaine possession. Indio was arrested in West Hollywood, California on June 29, 2014 -- after a traffic stop and investigation near the intersection of Santa Monica Boulevard and La Cienega, in which he was a passenger in the car -- and charged with felony drug possession.

Downey Jr., of course, is no stranger to trouble with the law. The 50-year-old actor famously struggled with substance abuse in the '90s, landing him in both rehab and jail on multiple occasions. He now maintains that he's been drug-free since 2003.

"Unfortunately there's a genetic component to addiction and Indio has likely inherited it," Downey Jr. said in a statement to ET after his son's arrest. "Also, there is a lot of family support and understanding, and we're all determined to rally behind him and help him become the man he's capable of being. We're grateful to the Sheriff's Department for their intervention, and believe Indio can be another recovery success story instead of a cautionary tale."

Indio is Downey Jr.'s son with his ex-wife, actress/singer Deborah Falconer. Their divorce was finalized in April 2004, after nearly 12 years together.

Last December, Downey Jr. was officially pardoned for a 1996 drug conviction by California Governor Jerry Brown. The then 31-year-old actor was arrested in Los Angeles after authorities found heroin, cocaine, and a pistol in his car. After violating his parole for that arrest, Downey spent nearly a year in prison.

"By completion of his sentence and good conduct in the community of his residence since his release, Robert John Downey, Jr. has paid his debt to society and earned a full and unconditional pardon," the pardon reads.